In order to further improve the maneuverability of the tail fin driving type bionic robotic fish and improve the pectoral fin auxiliary driving efficiency, the pectoral fin auxiliary driving motion mode is optimized and improved. A pectoral fin auxiliary driving mode of the tail fin driving type bionic robotic fish is provided, and pectoral fins rotate and swing wings in the front and back wing flapping process at the same time. A complete pectoral fin motion period is divided into a backward wing flapping stage and a forward wing flapping stage, and each stage is divided into three motion intervals. The pectoral fin gradually rotates from the horizontal state to the vertical state in the backward wing flapping process and then recovers to the horizontal state; in the forward wing flapping process, the pectoral fin stops swinging wings and flaps the wings forwards in a horizontal state. According to the bionic robotic fish, the forward wing flapping resistance is reduced to the minimum in a manner of sacrificing part of backward wing flapping thrust, so that the average thrust generated by pectoral fins in a period is improved, a better driving effect is obtained, and the maneuverability of the bionic robotic fish is improved.
为进一步提升尾鳍驱动式仿生机器鱼的机动性,提高胸鳍辅助驱动效率,对胸鳍辅助驱动运动方式做出优化改进。提出一种尾鳍驱动式仿生机器鱼的胸鳍辅助驱动运方式,胸鳍在前后拍翼的过程中同时进行旋转摇翼运动。将一个完整的胸鳍运动周期,分为向后拍翼和向前拍翼两个阶段,每个阶段又分为三个运动区间。胸鳍在在向后拍翼过程中由水平状态逐步旋转到垂直状态,再恢复为水平状态;在向前拍翼过程中,胸鳍停止摇翼,保持水平状态向前拍翼。本发明通过牺牲部分向后拍翼推力的方式,将向前拍翼的阻力降到最低,从而提高一个周期内胸鳍产生的平均推力,获得较好的驱动效果,提升仿生机器鱼的机动性。
Auxiliary driving movement method for pectoral fins of tail fin driving type bionic robotic fish
一种尾鳍驱动式仿生机器鱼胸鳍辅助驱动运动方法
2024-09-17
Patent
Electronic Resource
Chinese
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